Open document
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General information |
| Author |
Cao, Hu; Bai, Yongqiang; Chen, Jie; Fang, Hao |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
This paper mainly solves the problem of 2D
minimally persistent formation control in which three coleaders
are in a cycle, which raises a great challenge in the
area of persistent formation control. First, a novel control
law is proposed for this problem. The fundamental moving
principles of the agents are well‐designed based on the
property of persistence, and the non‐square rigidity matrix
is converted into the square one for the design of the
control law. Then, the method of leading principal minor is
utilized to prove that the formation with the above control
law can be stabilized. Finally, simulation results show that
the proposed controllers are able to stabilize the group
formation to a rigid shape, while keeping the distances
between the agents to the desired value. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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